CN106164799A - 自主行驶作业车辆 - Google Patents

自主行驶作业车辆 Download PDF

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Publication number
CN106164799A
CN106164799A CN201580017305.6A CN201580017305A CN106164799A CN 106164799 A CN106164799 A CN 106164799A CN 201580017305 A CN201580017305 A CN 201580017305A CN 106164799 A CN106164799 A CN 106164799A
Authority
CN
China
Prior art keywords
location
fault
working truck
occurs
travel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201580017305.6A
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English (en)
Chinese (zh)
Inventor
宫洼孝富
青木英明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yanmar Co Ltd
Original Assignee
Yanmar Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yanmar Co Ltd filed Critical Yanmar Co Ltd
Publication of CN106164799A publication Critical patent/CN106164799A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
    • G07C5/0825—Indicating performance data, e.g. occurrence of a malfunction using optical means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/152—Tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Guiding Agricultural Machines (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
CN201580017305.6A 2014-03-28 2015-03-25 自主行驶作业车辆 Pending CN106164799A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014070103 2014-03-28
JP2014-070103 2014-03-28
PCT/JP2015/059262 WO2015147111A1 (ja) 2014-03-28 2015-03-25 自律走行作業車両

Publications (1)

Publication Number Publication Date
CN106164799A true CN106164799A (zh) 2016-11-23

Family

ID=54195619

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580017305.6A Pending CN106164799A (zh) 2014-03-28 2015-03-25 自主行驶作业车辆

Country Status (6)

Country Link
US (1) US20180215393A1 (ko)
EP (1) EP3125058A4 (ko)
JP (1) JPWO2015147111A1 (ko)
KR (1) KR20160139019A (ko)
CN (1) CN106164799A (ko)
WO (1) WO2015147111A1 (ko)

Cited By (10)

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CN108226965A (zh) * 2016-12-15 2018-06-29 苏州宝时得电动工具有限公司 自移动设备的定位故障处理方法、装置和电子设备
CN109964189A (zh) * 2016-12-19 2019-07-02 株式会社久保田 行驶路径管理系统
CN110352392A (zh) * 2017-03-03 2019-10-18 洋马株式会社 作业画面显示系统
CN110998469A (zh) * 2017-06-16 2020-04-10 优特诺股份有限公司 对具有自主驾驶能力的车辆的操作进行干预
CN111942283A (zh) * 2019-05-14 2020-11-17 丰田自动车株式会社 车辆
US10959371B2 (en) 2016-02-06 2021-03-30 Positec Power Tools (Suzhou) Co., Ltd. Automatic working system, self-moving device and control method thereof
US11112789B2 (en) 2017-06-16 2021-09-07 Motional Ad Llc Intervention in operation of a vehicle having autonomous driving capabilities
CN113383284A (zh) * 2019-02-05 2021-09-10 卡特彼勒公司 用于生成带有教学提示的地图的系统
US11263830B2 (en) 2017-06-16 2022-03-01 Motional Ad Llc Intervention in operation of a vehicle having autonomous driving capabilities
US11285974B2 (en) * 2019-03-27 2022-03-29 Honda Motor Co., Ltd. Vehicle control system and vehicle

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JP6639835B2 (ja) * 2015-09-01 2020-02-05 株式会社クボタ 走行作業機
JP2017127292A (ja) * 2016-01-22 2017-07-27 ヤンマー株式会社 農業用作業車両
JP6925780B2 (ja) * 2016-02-03 2021-08-25 株式会社クボタ 作業車
WO2017154772A1 (ja) * 2016-03-07 2017-09-14 ヤンマー株式会社 経路生成装置
EP4339729A3 (en) * 2016-04-12 2024-05-08 Positec Power Tools (Suzhou) Co., Ltd. Automatic movement device for automatic working system, and control method therefor
JP6773471B2 (ja) * 2016-07-26 2020-10-21 株式会社豊田中央研究所 自律移動体と環境地図更新装置
JP6804999B2 (ja) * 2017-01-20 2020-12-23 株式会社クボタ 作業走行管理システム
JP6945303B2 (ja) * 2017-01-20 2021-10-06 株式会社クボタ 作業車、及び、他車監視システム
JP6925133B2 (ja) 2017-02-13 2021-08-25 株式会社クボタ 作業車のための衛星電波感度分布管理システム
JP6788229B2 (ja) * 2017-05-31 2020-11-25 井関農機株式会社 圃場作業車の自動操舵装置
JP6958252B2 (ja) * 2017-11-07 2021-11-02 トヨタ自動車株式会社 遠隔監視システム及び自律走行車両並びに遠隔監視方法
JP6910925B2 (ja) * 2017-11-08 2021-07-28 株式会社クボタ 圃場管理システム
JP7240472B2 (ja) * 2018-08-30 2023-03-15 先進モビリティ株式会社 自動運行方法
JP6943226B2 (ja) * 2018-08-30 2021-09-29 井関農機株式会社 作業車両
WO2020105125A1 (ja) * 2018-11-20 2020-05-28 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
US11324158B2 (en) * 2019-01-25 2022-05-10 Deere & Company System and method for controlling an implement connected to a vehicle
JP7348731B2 (ja) * 2019-02-26 2023-09-21 ヤンマーパワーテクノロジー株式会社 作業車両
JP7122452B2 (ja) * 2019-02-26 2022-08-19 本田技研工業株式会社 自動作業システム
KR102168104B1 (ko) * 2019-05-24 2020-10-21 장진만 농업용기계의 자율 주행 방법
JP7161976B2 (ja) * 2019-06-20 2022-10-27 ヤンマーパワーテクノロジー株式会社 作業車両用の自動走行システム
JP7256080B2 (ja) 2019-06-20 2023-04-11 ヤンマーパワーテクノロジー株式会社 作業車両
US11280616B2 (en) 2019-07-11 2022-03-22 Caterpillar Inc. Operating status identification system for machine
JP7296823B2 (ja) * 2019-08-23 2023-06-23 株式会社安藤・間 自動運転式建設機械制御システム、及び自動運転式建設機械制御方法
CN110463419A (zh) * 2019-08-27 2019-11-19 厦门路亨园景观设计有限公司 一种园林绿化用播种结构
JP2019213557A (ja) * 2019-09-12 2019-12-19 ヤンマー株式会社 作業経路生成システム
JP7301737B2 (ja) * 2019-12-27 2023-07-03 株式会社クボタ 作業車両
US11531338B2 (en) 2020-03-06 2022-12-20 Caterpillar Paving Products Inc. Automatic control mode system for heavy machinery
JP2021180431A (ja) * 2020-05-14 2021-11-18 パナソニックＩｐマネジメント株式会社 情報処理装置、情報処理方法およびプログラム
JP7460502B2 (ja) * 2020-10-14 2024-04-02 本田技研工業株式会社 経路設定装置、経路設定方法、記憶媒体及びプログラム
US11972551B2 (en) 2020-12-18 2024-04-30 Blue River Technology Inc. Machine-learned tillage shank malfunction in an autonomous farming vehicle
US11823369B2 (en) * 2020-12-18 2023-11-21 Blue River Technology Inc. Machine-learned tillage sweep malfunction in an autonomous farming vehicle
JP7492469B2 (ja) 2021-02-16 2024-05-29 ヤンマーホールディングス株式会社 自動走行方法、自動走行システム、及び自動走行プログラム
JP2023150416A (ja) * 2022-03-31 2023-10-16 ヤンマーホールディングス株式会社 自動走行方法、自動走行システム、及び自動走行プログラム

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